JP3364412B2 - Vibration suppression method for servo control system with speed reduction mechanism - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a servo control system provided with a speed reducer such as a gear reducer, a timing belt, and a chain in a driven machine part, and a natural vibration generated by a load when starting and stopping a motor. The present invention relates to a vibration control method for a servo control system with a reduction mechanism that suppresses residual vibration in a low frequency range related to the number.

[0002]

2. Description of the Related Art FIG. 5 is a schematic diagram of a drum drive system which is an example of a servo control system with a reduction mechanism for suppressing vibration by the method of the present invention. In this figure, 101 is a servo motor, 102 is a rotary encoder that detects the rotation of the rotor of the servo motor 101, and 103 is a gear reducer attached to the output shaft of the servo motor. A pulley 104 is fixed to the output shaft of the gear reducer 103, and a timing belt 105 is hung on the pulley 104. Reference numeral 106 is a rotary drum used in a copying machine or the like, and a timing belt 105 is also hung on the outer periphery of the drum 106. The speed detected by the rotary encoder 102 is input to the control device 107. The control unit 107 feeds back the rotor speed ω _m output from the rotary encoder 102 and rotates the motor rotor so that the deviation between the speed command signal ω _cmd given to the servo motor drive unit and the rotor speed ω _m becomes zero. .

The manner in which residual vibration occurs in such a servo control system when no vibration damping control is performed will be described. First, FIG. 6A shows a speed command signal ω _cmd for driving the servo motor 101. Time 0 (at startup)
, The speed command signal ω _{cmd rises} so as to rotate the servo motor 101 at 1000 _min ⁻¹ , and the speed command signal ω to stop the servo motor 101 after 0.2 seconds.
_cmd becomes 0 (when stopped). At this time, the encoder 102
The detected speed ω _m detected at 1 is as shown in FIG. 6 (B), and the rotational speed of the output shaft of the gear reducer 103 (maximum 20 _min ⁻¹ is as shown in FIG. 6 (C)). The speed of the load is as shown in Fig. 6 (D), and the vibration shown in Fig. 6 (D) is a transient vibration, that is, a residual vibration generated in the load at the time of starting and stopping. While the residual vibration as described above exists, the operation such as copying cannot be actually performed by the load, and the operation is started after the residual vibration disappears.

Various techniques for suppressing such residual vibration have been proposed. For example, in general, as a method of suppressing residual vibration generated by a load in relation to the natural frequency of a mechanical system, a detector that mechanically detects speed and acceleration is provided on an end effector (load). This is a method of performing full-closed loop control so as to suppress the vibration by feeding back the state quantity detected in. In order to realize the method of detecting the speed and acceleration of the load by using such a detector to suppress the residual vibration, there is a problem that the configuration of the control device becomes complicated and the cost for realization becomes high.

Therefore, recently, without using a mechanical detector that actually detects the speed or acceleration of the load, the detectable operation amount of the motor and the state quantity in the motor control system are used as inputs to determine the load speed or the load. There has been proposed a method of suppressing residual vibration by feeding back the estimated load speed and acceleration using an observer for estimating the acceleration, that is, an estimating means. For example, in the method disclosed in Japanese Patent Application Laid-Open No. 8-278820, the speed of the load is estimated by an observer, and
In the method disclosed in Japanese Patent No. 8821, the observer estimates the acceleration of the load and suppresses residual vibration.

[0006]

The conventional method using the observer requires a precise model formula of the load system. However, it is not easy to realize such a precise model formula. For example, JP-A-8-27882
In the technique disclosed in Japanese Patent Publication No. 0, a precise model formula is realized because the calculation process of the rotational angular acceleration θa ″ in the formulas (3) and (4) described on page 3 of this publication is unknown. In other words, this publication discloses a technology that cannot be implemented, but the technology disclosed in this publication does not The torque command T of the motor and the detected speed .theta.m 'are input to an arithmetic circuit forming an observer circuit, and the angular speed is estimated by these inputs and a constant. In the technology described above, the detected speed θm ′ detected by the speed detector, the position θm detected by the position detector, and the speed command signal are input,
The observer circuit estimates the acceleration. In this publication, it is difficult to realize a precise model formula because the calculation process of the rotational angular acceleration θa ″ is clearly shown. It is necessary to use a differentiator with an arrow, which complicates the configuration for realizing this method.

The object of the present invention is to consider that the main factor that determines the performance of the load is residual vibration related to the first vibration mode of the mechanical system, and a model that is simple in construction and easy to realize. The purpose of the present invention is to provide a vibration control method for a servo control system with a speed reduction mechanism that can perform vibration control based on the above.

[0008]

SUMMARY OF THE INVENTION The present invention is directed to a low frequency range related to a natural frequency of a mechanical system generated by a load in a servo control system having a speed reduction mechanism in a driven mechanical section driven by a driving section including a motor. The object of the improvement is the damping method of the servo control system with a reduction mechanism that suppresses the residual vibration. In the present invention, first, the relationship for estimating the rotational speed of the load by converting it into the rotational speed of the motor shaft is set in advance. Specifically, if the rotation speed of the load is directly estimated, the speed obtained by multiplying the estimated rotation speed of the load by the reciprocal of the reduction ratio (output shaft rotation speed / input shaft rotation speed) of the speed reduction mechanism is obtained. , The rotation speed of the load converted to the rotation speed of the motor shaft. However, the rotation speed of the load may be obtained by converting it into the rotation speed of the motor shaft without directly estimating the rotation speed of the load. Then, the deviation between the estimated rotation speed of the load and the rotation speed of the motor is added to the speed command value so as to suppress the residual vibration. In this way, the residual vibration component can be obtained by using the estimated rotation speed of the load without actually detecting the speed of the load, and the actual residual vibration can be easily suppressed.

More specifically, the damping method of the servo control system with a reduction mechanism of the present invention includes a motor for driving a load through the reduction mechanism and a speed detector for detecting the rotation speed ω _{m of the} motor. In the servo control system with deceleration mechanism, which has a feedback loop in which the motor rotation speed is the feedback amount, and an electric control unit which gives the operation amount to the motor by inputting the deviation between the speed command amount ω _cmd and the feedback amount The vibration is suppressed by using the estimated load rotation speed ω _lm of the load converted into the motor shaft (converted into the rotation speed of the motor shaft) estimated based on a predetermined control model. First, the deviation (ω _lm −ω _m ) between the motor rotation speed ω _m and the estimated load rotation speed ω _lm is obtained. This deviation includes an estimated residual vibration component.
And determining the gain K _b is multiplied by the correction value K _{b (ω lm} -ω _m) suitable for suppressing residual vibration on the deviation. The gain K _b is set so that the correction value K _b (ω _lm −ω _m ) has a value capable of canceling the residual vibration that actually occurs. By the way, when the constant rotation speed of the motor is 1000 _min ⁻¹ and the constant rotation speed of the load is 20 _min ⁻¹ , this gain K _b is selected to be approximately 0.75 as a simulation value.

In the present invention, this correction value K _b (ω _lm
-Ω _m ) is added to the speed command amount ω _cmd , and the corrected speed command amount [ω _cmd + K _b (ω _lm − ω _m )] is added to the speed command amount ω ′ _cmd.
By suppressing the residual vibration.

The control model used for estimating the load rotation speed is the correction speed command amount [ω _cmd + K _b (ω _lm −
ω _m )] is used to estimate the estimated load rotation speed ω lm from the model electric control unit, and a model machine unit including a motor, a reduction mechanism and a load. The model electric control unit is modeled in advance using its natural frequency ω _e and damping ratio ζ _e, and the model mechanical unit has its natural frequency ω _n , damping ratio γ _n, and inertia moment ratio R _n. What is modeled in advance using and is used. By using such a control model, it is possible to equivalently give the mechanical system a damping effect by using a simple control model without using a control model having a complicated configuration.

[0012] model electric control unit of the control model is between the correction velocity instruction value _{[ω cmd + K b (ω} lm -ω m)] is the first summing point and the second summing point input At 2ζ _e
From a first extraction point having a first transfer element having a transfer function of ω _e + ω _e ² (1 / s) and provided between the second transfer element and the third addition point A first feedback loop may be formed at the first addition point. When using such a model electric control unit, the model mechanical unit has a second transfer element having a transfer function of 1 / s between the second addition point and the third addition point, and A third transfer element having a transfer function of [R _n / (1 + R _n )] · ω _n ² · (1 / s) between the third addition point and the fourth addition point, and [R _n / (1 + R _n )]
A parallel coupling of a fourth transfer element having a transfer function of 2γ _n · ω _n , 1 / between the fourth summing point and the output point
A second transfer point having a fifth transfer element having a transfer function of (R _n s), the second transfer point being provided between the fourth transfer point and the fifth transfer element; Second to the point
It is possible to have a configuration in which the feedback loop of is formed. When a control model including an electric control unit and a mechanical unit having such a configuration is used, drawing information (here, drawing information is defined as various kinds of information described in a design drawing or a design specification) is used. Not only can the control model be constructed simply by using the obtained constants for the electrical control unit and mechanical unit, but it can also be easily performed by using the constants for the electrical control unit and mechanical unit obtained from the actual operation data obtained during actual operation. You can configure the control model.

The natural frequency ω _e of the model electric control unit is represented as [(K _vm · K _tm ) / (T _im · J _mm )] ^1/2, and the damping ratio ζ _e is (1/2) [(T _im・ K _vm・ K _tm ) / J _mm ] ^1/2
Express. However, it is assumed that K _vm is the velocity loop gain of PI control, T _im is the integral time constant of PI control, K _tm is the torque constant, and J _mm is the moment of inertia of the motor side converted to the motor shaft. . In addition, the natural frequency ω _n of the model machine part is {K _sm [(1 / J _mm ) + (1 / J _lm )]} ^1/2
And the damping ratio γ _n is {C _sm [(1 / J _mm ) + (1 / J
_lm )]} / 2ω _n . However, K _sm is the torsion spring rigidity converted to the motor shaft, J _lm is the inertia moment on the load side converted to the motor shaft, and C _sm is the damping constant converted to the motor shaft. Then, K _vm , K _lm , T _im , J _mm , K _sm , J _lm ,
If C _sm is obtained from the drawing information, the control model can be easily constructed.

Further, K _vm , K _tm , and T _im are obtained from the drawing information, and the moment of inertia ratio R _n = J _lm / J _mm is defined.
_lm = R _n · J _mm , K _sm = ω _n ² · [(R _n · J _mm ) / (1+
R _n )], C _sm = [(2R _n · J _mm ) / (1 + R _n )] ·
If expressed as γ _n · ω _n , a control model can be easily constructed by only obtaining R _n , J _mm , ω _n , and γ _n from actual operation data.

[0015]

1 is a block diagram of an example of an embodiment in which the present invention is applied to a mechanical system having a gear reduction mechanism as shown in FIG. As for a mechanical system having a speed reducing mechanism such as a timing belt or a chain, the entire system can be represented by a block diagram as in FIG.
In FIG. 1, 1 is a load, 2 is a reducer, and 3
Reference numeral 4 is a servo motor, and 4 is a control unit for giving an operation amount to the motor 3. The electric control unit 4 is generally composed of a PI control unit and a current control unit. 5 is a speed detector for detecting an angular velocity namely motor speed omega _m of the motor, the feedback amount predetermined gain is multiplied by the amplifier 6 to the motor speed omega _m outputted from the speed detector 5 is obtained. This feedback amount is subtracted from a corrected speed command amount, that is, a corrected speed command amount ω ′ _cmd , which will be described later, and the deviation thereof is input to the electric control unit 4, and the load rotates with residual vibration controlled. In the present invention, the observer 7 that estimates the estimated load rotation speed ω _lm by converting the rotation speed of the load 1 into the rotation speed of the motor shaft by using the corrected speed command amount ω ′ _cmd as an input is used. Each constant (J _mm , K _sm , C _sm , J _{lm in} FIG. 3 and R _{n in} FIG. 2) of the model machine unit 7B that constitutes the observer 7 is set in consideration of the reduction ratio of the reduction mechanism. Value converted to axis [J _mm =
J _m + (J _g / R _g ² ), K _sm = K _s / R _g ² , J _lm = J _l / R
_g ² , C _sm = C _s / R _g ² , R _n = J _lm / J _mm ; where R _g is the reciprocal of the reduction ratio], the estimated load rotation speed ω _lm is
It is estimated as a value converted into the rotation speed of the motor shaft.

Motor rotation speed ω detected by the speed detector 5
The deviation (ω _lm −ω _m ) between _m and the estimated load rotation speed ω _lm estimated by the observer 7 is added and calculated at the summing point 8, and the gain K suitable for suppressing the residual vibration by the amplifier 9 is added to the deviation. _The correction value K _b (ω _lm −ω _m ) is determined by multiplying by _b . The gain K _b is set so that the correction value K _b (ω _lm −ω _m ) has a value capable of canceling the residual vibration that actually occurs. This correction value K _b (ω _lm −ω _m ) is added to the speed command amount ω _cmd at the addition point 10 to obtain the corrected speed command amount [ω _cmd + K _b (ω _lm −ω _m )].
In addition to this corrected speed command amount [ω _cmd + K _b (ω _lm −ω _m )], the feedback amount is subtracted at the summing point 11, and the speed command amount ω ′ _cmd
Becomes

The observer 7 converts the rotational speed of the motor shaft into a rotational speed of the load (estimated load rotational speed ω _lm based on a control model in which a relationship for estimating the rotational speed of the load based on the corrected speed command amount is set in advance). ) Is estimated. The control model used when estimating the load rotation speed was modeled on the electric control unit 4 so as to estimate the estimated load rotation speed ω _lm from the corrected speed command amount [ω _cmd + K _b (ω _lm −ω _m ). A model electric machine unit 7 including a model electric control unit 7A, a motor 3, a speed reducer (reduction mechanism) 2 and a load 1.
B and. That is, in order to estimate the rotation speed of the load 1 converted into the rotation speed of the motor shaft without actually detecting the rotation speed of the load 1, the control model inside the observer 7 uses the elements 1 to 1 which form the servo control system. 6 is modeled. In this control model, the residual vibration component is included in the estimated rotation speed of the load.

The control model used by the observer 7 differs depending on the configuration of the servo control system. A mechanical system having a gear reduction mechanism as shown in FIG. 5 can be regarded as a multi-degree-of-freedom torsional vibration system. FIG. 2 shows a block diagram of a more detailed embodiment in which the present invention is applied to a mechanical system having a gear reduction mechanism. 2, parts corresponding to the respective elements 1 to 11 shown in FIG. 1 are designated by the same reference numerals as those shown in FIG. Here, for simplicity, a servo control system 100 including three inertial bodies having gear stages is considered. In a mechanical system having such a gear stage, when the torsional rigidity of the gear connecting stage is higher than that of the load shaft or coupling as the driven part, and when the driven part can be regarded as a rigid body, Can be roughly divided into two cases, that is, the case where the rigidity is lowest. In either case, the high-order free vibration is attenuated sufficiently quickly, and the residual vibration to be reduced is often dominated by the first-order natural frequency (eigenmode). Therefore, the control system of the three-inertia torsional vibration system shown by reference numeral 100 in FIG. 2 can be reduced to the two-inertia torsional vibration system shown in FIG. In this reduced low-dimensional model, the motor-side moment of inertia and the load-side moment of inertia converted to the motor shaft are J _mm and J _lm , respectively.
And K _sm is the torsion spring rigidity equivalent to the motor axis, and C _sm
The natural frequency ω _n of the mechanical system and the damping ratio γ _n are expressed by the following equations (1) and (2), _where is the damping constant converted to the motor shaft.

Ω _n = {K _sm [(1 / J _mm ) + (1 / J _lm )]} ^1/2 (1) γ _n = {C _sm [(1 / J _mm ) + (1 / J _lm )]} / 2ω _n (2) Further, if the moment of inertia ratio R _n is defined as R _n = J _lm / J _mm , J _lm , K _sm, and C _sm can be expressed by the following (3) to (5). ) Is expressed as

J _lm = R _n · J _mm (3) K _sm = ω _n ² · [(R _n · J _mm ) / (1 + R _n )] (4) C _sm = [(2R _n · J _mm ) / (1 + R _n )] · γ _n · ω _n (5) By making the mechanical system into a low-dimensional simple model in this way, the transmission that constitutes the driven part of the model machine unit 7B of the observer 7 of FIG. The transfer functions of the elements 7g, 7h and 7k can be easily defined. Note that R _n , J _mm , ω _n , γ _n
The value of can be obtained not only from the drawing information as a value used for the simulation, but also based on the actual operation data obtained from the residual vibration waveform measured by actually performing the operation.

Next, the model electric control section 7A of the observer 7
A method for obtaining the low-dimensional simple model of will be described. Here, the effect of the induced voltage is ignored. Further, assuming that the current minor loop has a sufficiently fast response to the first-order natural period of the mechanical system, the proportional minor K _tm is provided to constitute a simplified PI control system as shown in FIG. Further, the natural frequency ω of the electric control system is expressed by the following equations (6) and (7).
If it is expressed using _e and the damping ratio ζ _e , setting of the model constant of the electric control unit, that is, the transfer element 7 of the model electric control unit 7A in FIG.
The transfer function of b can be easily set.

Ω _e = [(K _vm · K _tm ) / (T _im · J _mm )] ^1/2 (6) ζ _e = (1/2) [(T _im · K _vm · K _tm ) / J _mm ] ^1/2 (7) where K _vm is the velocity loop gain of PI control, T _im is the integral time constant of PI control, K _tm is the torque constant, and J _mm
Is the moment of inertia on the motor side converted to the motor shaft.

The block diagram of the observer 7 shown in FIG. 1 will be described. The model electric control unit 7A is
The first addition point 7a and the second addition point 7c to which the corrected speed command amount [ω _cmd + K _b (ω _lm −ω _m )] is input.
And a first transfer element 7b having a transfer function of 2ζ _e · ω _e + ω _e ² (1 / s). The first feedback loop is formed from the first lead-out point 7e provided between the second transmission element 7d and the third addition point 7f to the first addition point 7a. ing. The model machine part 7B also has a second addition point 7c.
The second transfer element 7d having a transfer function of 1 / s is provided between the second transfer element 7d and the third addition point 7f. Further, between the third addition point 7f and the fourth addition point 7i, [R
The third transfer element 7g having a transfer function of _n / (1 + R _n )] · ω _n ² · (1 / s) and [R _n / (1 + R _n )] · 2γ _n
A parallel coupling of a fourth transfer element 7h having a transfer function of ω _n , 1 between the fourth summing point 7i and the output point
Fifth transfer element 7k having a transfer function of / (R _n · s)
have. Then, a second extraction point 7j provided between the fourth addition point 7i and the fifth transmission element 7k.
To the second addition point 7c, a second feedback loop is formed.

In FIG. 2, R _g is the reciprocal of the reduction gear ratio, ω _g is the rotation speed of the output shaft of the reduction gear, ω _l is the rotation speed of the driven mechanical system, L is the armature inductance, and R is the electric machine. Child resistance, K _t is a torque constant, K _e is an induced voltage constant, K _c is a current loop gain, K _cb is a current feedback gain,
J _m is the moment of inertia of the motor, J _g is the moment of inertia of the output of the reducer, J _l is the moment of inertia of the driven mechanical system, K _g is the torsional rigidity of the reducer, and C _g is the equivalent damping constant of the reducer. , K _s is the torsional rigidity between the reducer output shaft and the driven mechanical system, C _s is the damping constant between the reducer output shaft and the driven mechanical system,
K _v is a proportional gain of the speed control system PI control, and T _i is an integral time constant of the speed control system PI control.

FIG. 4 shows a simulation of the motor rotation speed of 1000 _min at time 0 in the embodiment of FIG.
The rotational speed-up time 0.2 seconds up stepwise to ^-1 represents the response result when given 0 _min ^-1 Standing lowering speed command omega _cmd stepwise until [FIG 4 (A)]. Figure 4
4B is the rotation speed ω _m of the motor, FIG. 4C is the rotation speed ω _g of the output of the gear reducer, and FIG. 4D is the load speed ω _l . Comparing these response results with the case where the damping control shown in FIG. 6 is not performed, the damping capacity of the load vibration system is increased according to the present invention, and the settling time of the residual vibration of the load is changed from 200 msec to 60 msec. And about 1/3.
It can be seen that it can be reduced to 3. Moreover, there is no delay in the response of the load that occurs when the mechanical system damping ratio is increased. As shown in this example, according to the present invention, it is possible to obtain the effect of suppressing the residual vibration generated by the load with a configuration that can be realized very easily by using the drawing information and the actual machine measurement data.

[0026]

According to the present invention, the load converted into the rotational speed of the motor shaft is detected by using the low-dimensional control model of the electric control section and the mechanical section of the speed control loop system without actually detecting the speed of the load. It is possible to provide a vibration control method for a servo control system with a speed reduction mechanism, which can estimate the rotation speed of the motor and can easily perform vibration control using the estimated rotation speed of the load.

[Brief description of drawings]

FIG. 1 is a block diagram of an example of an embodiment in which the present invention is applied to a mechanical system having a gear reduction mechanism.

FIG. 2 is a block diagram of an embodiment in which the present invention is applied to a mechanical system having a gear reduction mechanism.

FIG. 3 is a block diagram of a low-dimensional simple model of the servo control system in FIG.

FIG. 4A to FIG. 4D are diagrams showing results of a simulation performed to confirm the effect of the present invention.

FIG. 5 is a schematic diagram of a drum drive system that is an example of a servo control system with a reduction mechanism that suppresses vibration by the method of the present invention.

6 (A) to 6 (D) are diagrams showing results of simulation that residual vibration occurs when the present invention is not applied.

[Explanation of symbols]

1 load 2 reducer 3 motor 4 Electric control section 5 Speed detector 6 amplifier 7 Observer 7A model electric control unit 7B model machine section 9 amplifier 101 Servo motor 102 rotary encoder 103 gear reducer 104 pulley 105 Timing belt 106 rotating drum 107 control device

Claims (3)

(57) [Claims] 1. A motor for driving a load through a reduction mechanism.
And the motor rotation speed ω of the motor _m Speed detection to detect
Feeder that includes the output device and uses the motor rotation speed as the feedback amount.
Driveback loop and speed command amount ω _cmd And the amount of return
Electric control that gives a manipulated variable to the motor by inputting deviation
Generated in a servo control system with a deceleration mechanism
The residual vibration based on a predetermined control model.
And a speed reducer that suppresses the estimated load rotation speed of the load
A damping method for a built-in servo control system, The estimated load rotation speed ω _lm To the rotation speed of the motor shaft
Converted and estimated, The motor rotation speed ω _m And the estimated load rotation speed ω _lm When
Deviation of (ω _lm −ω _m ), A gain K suitable for suppressing the residual vibration in the deviation
_b Multiply by the correction value K _b (Ω _lm −ω _m ), The correction value K _b (Ω _lm −ω _m ) Is the speed command amount ω _cmd Added to
The corrected speed command amount [ω _cmd + K _b (Ω _lm −ω _m )]
Is a speed command amount ω ′ to the electric control unit. _cmd To
More suppresses the residual vibration, The control model uses the corrected speed command amount [ω _cmd + K _b
(Ω _lm −ω _m )] From the estimated load rotational speed ω _lm Estimate
And a model electric control unit modeled as
Modeled including a motor, the speed reduction mechanism, and the load.
A model mechanical section, and the model electric control section
Natural frequency ω _e And damping ratio ζ _e Previously modeled using and
And the model machine section has its natural frequency ω _n And decay
Ratio γ _n And moment of inertia ratio R _n Previously modeled using
Is The model electric control unit controls the corrected speed command amount [ω _cmd
+ K _b (Ω _lm −ω _m )] Is the first addition
2ζ between the point and the second addition point _e ・ Ω _e + Ω _e ² (1
/ S) with a first transfer element having a transfer function of
And between the second transfer element and the third addition point
The first addition from the provided first extraction point
Has a configuration in which the first feedback loop is formed at the point
And The model machine part includes the second addition point and the second addition point.
3rd addition point with a transfer function of 1 / s
2 transfer elements, said third addition point and fourth
Between the addition point and [R _n / (1 + R _n )] ・ Ω _n ² ・
A third transfer element having a transfer function of (1 / s) and [R _n
/ (1 + R _n )] ・ 2γ _n ・ Ω _n Fourth with a transfer function of
A parallel combination of transfer elements of
Between the output point and 1 / (R _n .S) has a transfer function
A fifth transfer element, the fourth summing point and the fifth
From the second withdrawal point provided between the transmission element of
The second feedback loop is at the second addition point.
Servo control system with deceleration mechanism having formed structure
Vibration control method. 2. The natural frequency of the model electric control unit
ω _e Is [(K _vm ・ K _tm ) / (T _im ・ J _mm )] ^1/2 Represented
The damping ratio ζ _e Is (1/2) [(T _im ・ K _vm ・
K _tm ) / J _mm ] ^1/2 Is shown, but K _vm Is the speed of PI control
Degree loop gain, T _im Is the integration time constant of PI control
Yes, K _tm Is the torque constant, J _mm Is converted to the motor axis
Is the moment of inertia on the motor side, Also, the natural frequency ω of the model machine part _n Is {K _sm [(1
/ J _mm ) + (1 / J _lm )]} ^1/2 And the damping ratio γ _n Is
{C _sm [(1 / J _mm ) + (1 / J _lm )]} / 2ω _n And table
However, K _sm Is the torsion spring rigidity converted to the motor shaft.
Yes, J _lm Is the inertial momentum on the load side converted to the motor shaft.
And C _sm Is the damping constant converted to the motor shaft, K _vm , K _tm , T _im , J _mm , K _sm , J _lm , C _sm Design
Request from various information listed in drawings and design specifications.
The servo control with a reduction mechanism according to claim 1,
Vibration control method of your system. 3. The K _vm , K _tm , T _im , The design drawings and settings
Obtained from various information listed in the specifications, Inertia moment ratio R _n = J _lm / J _mm Is defined as J
_lm = R _n ・ J _mm , K _sm = Ω _n ² ・ [(R _n ・ J _mm ) /
(1 + R _n )], Said C _sm = [(2R _n ・ J _mm ) / (1+
R _n )] ・ Γ _n ・ Ω _n And R _n , J _mm , Ω _n , Γ _n To
Claim 1 characterized in that it is obtained from actual operation data.
Vibration suppression method for the servo control system with a deceleration mechanism.